JP3336639B2 - Elevator speed control - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator speed control device which performs speed control by detecting speed in a non-contact manner using laser light in an elevator device.

[0002]

2. Description of the Related Art FIG. 11 is an explanatory view of a conventional elevator apparatus. In the drawing, a rope 2 is wound up by an elevator hoisting machine 1 and passes through a warp wheel 3 for moving the position of the rope 2 to one end of the rope 2 so that the elevator cage 4 and the rope 2 are connected.
A counterweight 7 is suspended from the other end of the loop 2. The elevator cage 4 is guided by the cage rails 5 and 5A, and is guided by the counterweight rail 6 so that the counterweight 7 moves up and down. In the conventional elevator apparatus configured as described above, since the hoist 1 and the like are disposed above the hoistway, a machine room for accommodating them is provided.

In recent years, since a machine room can be arranged at an arbitrary position instead of an upper part of a hoistway, an elevator apparatus using a linear motor as shown in FIG. 12 is used. FIG. 12 is a configuration diagram of a linear motor elevator with a loop. In the figure, the same reference numerals as those in FIG. 11 indicate the same members. The armature 8 of the linear motor is mounted on the counterweight 7. The counterweight 7 is composed of a linear motor armature 8 and a secondary conductor 9 of a linear motor installed on the hoistway side.
The linear motor consisting of
B, move up and down along 6C. The elevator cage 4 is connected to a counterweight 7 by a rope 2 via a return wheel 11, and moves up and down along the guide rails 5 and 5A as the counterweight 7 moves up and down. The counterweight 7 is provided with a brake 10 and operates when the elevator stops. A lower buffer 12 is provided below the hoistway. FIG.
FIG. 2 is a configuration diagram of a speed detecting means of a conventional linear motor elevator with a loop. In such a linear motor elevator apparatus, usually, the encoder 14 is brought into contact with the balancing weight rails 6B, 6C or the secondary conductor 9 by the roller 15 on the balancing weight 7 to which the linear motor armature 8 is attached. The encoder output pulse due to the rotation of the roller 15 is input to the control device 50 of the linear motor elevator shown in FIG. 14 via the cable 12 and the like to control the position and speed of the elevator.

The operation of the thus configured linear motor elevator will be described. FIG. 14 shows a conventional inverter for driving a linear motor elevator with a rope.
FIG. 3 is a control block diagram of the data. In the figure, reference numeral 17 denotes a current speed calculator 16 for calculating a speed from a pulse train of the encoder 14.
Is a position control unit that calculates the current position from the signal of The position control unit 17 issues a speed command and a stop command in accordance with the destination of the elevator from the current position of the elevator in response to a destination instruction button from inside the elevator cage and a cage call button from each floor (not shown). , Brake 10
Or to operate. Speed Command 1
Numeral 8 compares the speed command value of the position control unit 17 with the current speed of the current speed calculation unit 16 at an abutting point 19 for determining a speed deviation, and generates a speed command pattern for accelerating / decelerating the elevator (linear motor). The speed amplifier 20 amplifies and compensates for the speed deviation. The vector operation unit 21 performs a vector operation from the torque command output from the speed amplifier 20, and outputs a current command value I0, a slip frequency ωs, and a phase angle θ to the current command unit 22. The current command unit 22 compares the three-phase current command and the motor current detected by the DC current transformer (DCCT) 28 at a matching point 23 to determine a current deviation. Current amplifier 2
4 amplifies and compensates for the current deviation. Voltage command output from current amplifier 24 and triangular wave generator 26 for carrier generation
The PWM circuit 25 performs pulse width modulation on the output voltage by the output of (1). Through the above steps, the transistor, GTO (gate
An inverter bridge 27 composed of a turn-off thyristor), an FET (field effect transistor), etc., converts the DC main circuit voltage PN into a three-phase PW.
The output voltage is converted into an M output voltage, and the required voltage and frequency are supplied to the linear motor armature 8 to control the speed of the linear motor (elevator).

[0005]

As described above, the speed detector of the linear motor elevator thus constructed is generally constituted by an encoder or the like utilizing the rotation of rollers as described above. There were two problems. First, the slippage of the rollers causes an error between the encoder detection speed and the elevator speed. Second, roller wear causes errors in elevator speed and encoder rotational speed. In order to solve these problems, a method of correcting an error by another detector at a fixed point (not shown) is currently being considered. However, since the encoder using the rotation of the roller is used for the other detector described above, the same problem is involved and it is not necessarily essential. A method using a linear motor encoder or the like using magnetism or light is also conceivable, but it is necessary to separately lay a scale on the hoistway, which deteriorates the workability of the laying.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is intended to prevent the occurrence of errors due to the influence of the slip of the roller of the encoder and the wear of the roller. Elevator that eliminates the need to lay a scale on the whole, has excellent reliability and maintainability, and can streamline construction.
A speed control device.

[0007]

An elevator speed control device according to the present invention comprises a moving body moving up and down an elevator shaft and an area facing the moving body in the hoistway along the moving direction of the moving body. A fixed member installed, laser oscillation means provided on the movable body so as to irradiate the fixed member with laser light, and a reflection light of the laser light reflected from the fixed member. Calculating a change in an output signal output from the light-receiving patterning means due to the movement of the moving body, the light-receiving patterning means being provided on the moving body so as to detect the reflected light; The apparatus comprises speed detecting means for detecting the speed of the moving body, and speed controlling means for controlling the speed of the moving body based on an output signal of the speed detecting means. The joint gap between the fixing members is
Absorbs changes in the gap due to thermal expansion of the fixing member, and
Even if it is filled with a supplementary member that reflects the light
Good.

[0008]

An elevator speed control device according to the next invention is provided in a region facing a moving body moving up and down an elevator shaft and the moving body in the hoistway along the moving direction of the moving body. A fixed member, first laser oscillation means provided on the movable body so as to irradiate the fixed member with laser light, and an irradiation position of the laser light by the first laser oscillation means A second laser oscillating means provided on the movable body so as to irradiate laser light to a region of the fixed member which is separated from the fixed member by a distance larger than a width of a joint gap formed between the fixed members. A first light receiving patterning means provided on the movable body so as to detect reflected light of the laser light oscillated from the first laser oscillating means, and the second laser oscillating means; Second light receiving patterning means for detecting reflected light of the laser light oscillated from the means Speed detecting means for calculating a change in an output signal accompanying movement of the moving body, which is output from one of the first and second light receiving patterning means, and detecting a speed of the moving body; Speed control means for controlling the speed of the moving body in response to the signal from the speed detection means.

[0010] An elevator speed control device according to the next invention is provided in a region facing a moving body moving up and down an elevator shaft and the moving body in the hoistway along the moving direction of the moving body. A fixing member, a second fixing member provided in parallel with the first fixing member and provided so as to alternate with a seam between the first fixing members, and a laser on the first fixing member. First laser oscillating means provided on the movable body so as to irradiate laser light, and second laser oscillation means provided on the movable body so as to irradiate the second fixing member with laser light. Means, first light receiving patterning means provided on the movable body for detecting reflected light of the laser light oscillated from the first laser oscillating means, and the second laser A second light receiving pattern for detecting the reflected light of the laser light oscillated from the laser oscillating means. A speed detecting means for calculating a change in an output signal accompanying the movement of the moving body output from at least one of the first and second light receiving patterning means and detecting a speed of the moving body; And speed control means for controlling the speed of the moving body in response to the signal from the speed detection means.

[0011]

According to the present invention, an elevator speed control device comprises:
The light receiving patterning means detects the reflected light of the laser light applied to the fixed member, and the speed detecting means calculates a change in the output signal from the light receiving patterning means due to the movement of the moving body to obtain the speed. , It is possible to solve the problem that the error occurs in the speed due to the slip of the roller, and the error occurs in the rotation speed of the encoder and the elevator speed due to the wear of the roller.In addition, the scale is laid on the entire hoistway. Work becomes unnecessary. Also, the seam gap of the fixing member changes due to thermal expansion.
Fixing member with a supplementary material that absorbs laser light and reflects laser light
The moving body is moving because the gap of the seam is filled
Means for continuously receiving the reflected light of the laser light by the light receiving patterning means.
Can light.

[0012]

[0013] In the elevator speed control device according to the next invention, the first and second laser oscillating means irradiate the fixed member with laser light with a distance larger than the width of the joint gap of the fixed member. Even if one of the irradiation lights of the laser oscillating means does not reflect due to the joint gap of the fixing member, the reflected light of the other laser oscillating means receives either the first or the second light. When the patterning means receives light, the speed detecting means can continuously detect the speed.

Further, in the elevator speed control device according to the next invention, the first and second fixing members are joined so that their joining gaps are alternated, so that the first and second laser oscillation means are provided. Even if one of the reflected lights is interrupted, the speed detecting means can continuously detect the speed by receiving the other reflected light by the first or second light receiving patterning means.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. Embodiment 1 FIG. FIG. 1 is an explanatory diagram showing the relationship among the laser oscillating means, the fixing member, and the light receiving pattern forming means. 30 in the figure
The hoistway, for example, the elevator cage 4 or the counterweight 7,
Laser oscillation means which moves up and down together with the moving body.
The laser light 32 emitted by the laser oscillation means 30
Reflected by a fixed member laid on an elevator shaft, for example, a rail (5 or 6) or a secondary conductor 9;
The light is input to the light receiving patterning means 29 as reflected light. The light receiving patterning means 29 includes an image sensor 39 shown in FIG. The reflecting surface 31 is uneven at the substantially fine level as shown in the figure. When the laser light is applied to the uneven surface, a phase difference occurs in the reflected light, and light interference fringes are generated. The interference fringes are generally called a speckle pattern, and the light receiving patterning means 29 normally detects light and dark as shown in FIG. When the laser beam oscillator moves up and down, the speckle pattern moves to the + side.
A → D → A → B → C
Move to. Since the distance between one pixel of the image sensor 39 is fixed, the moving speed, the moving speed, and the moving amount of the speckle pattern every predetermined sampling time are determined.
Determine the distance.

Next, the operation will be described. FIG. 3 is a control block diagram for detecting the speed of the elevator according to the present embodiment. FIG. 4 is a control block diagram of the control device for the linear motor on the building side of this embodiment. In the figure, the laser oscillation means 30
Is composed of a lens 34 for transmitting laser light, a semiconductor laser 35 for light emission, and a semiconductor laser drive circuit 36 for driving the semiconductor laser 35. The light receiving patterning means 29 for receiving the reflected light of the laser oscillation means 30 includes an image sensor (CCD) 39 for receiving the reflected light of the laser,
It comprises a light receiving timing circuit 37 and an amplifier for amplifying the output of the image sensor. The head section 33 is composed of a laser oscillating means 30 and a light receiving patterning means 29, and is installed on a moving body that moves up and down the hoistway. A speed detecting means 40 for calculating the speed and the moving amount from the output of the light receiving patterning means 39 is a timing circuit 41 for scanning the image sensor and for oscillating laser light, and an AD for digitizing the output of the image sensor. Converter 42, CPU 43 for calculating speed and moving amount from image sensor output
And an RS232 for transmitting a speed signal to the communication interface 105 of the linear motor control device 100 shown in FIG.
It is constituted by a C communication interface 44.
Further, the position data 103 and the speed data are received by the communication interface 105 of the control device 100 for the linear motor.
Data 104. Since the basal amount that can be detected by the laser is the amount of movement in a predetermined time, the data transmitted from the moving body can be directly used as speed data 104 by the linear motor control device 100. Position data
The data 103 is obtained by integrating the transmitted speed data 104. 4. In FIG.
2 shows a common part with the conventional control device shown in FIG. Also 101
The portion indicated by is generally constituted by a microcomputer having a ROM and a RAM, and the control algorithm is constituted by software of the microcomputer. FIG. 5 shows the relationship among the detection time on the laser side, the data transmission time on the control device 100 side, and the processing time of the speed loop and position loop on the control device 100 side. Since the total processing time can be configured at about 5.6 ms, the processing time is sufficient for controlling the elevator.

In the present invention, the laser beam irradiated by the rail of the elevator hoistway or the secondary conductor of the linear induction motor laid on the entire area of the elevator hoistway is reflected. In general, the secondary conductor of a linear induction motor is generally constituted by members of a predetermined length, and joints are generally laid with a slight gap for measures against thermal expansion or the like. The laser light penetrates the reflector as in 32A. Therefore, in order to eliminate such inconveniences, as shown in FIG. 7, a change in a gap due to thermal expansion is absorbed and irradiated at a joint of a rail as a reflector or a secondary conductor of a linear induction motor. Viscous material 4 as a supplementary member for reflecting the laser light
If 0 is inserted to receive the reflection of the laser beam, the position and speed can be similarly detected at the rail or at the joint of the secondary conductor of the linear induction motor. In addition, since this method does not pose a problem in the case of a bump at the seam, if a viscous or elastic material is used as the filler at the seam, the problem of thermal expansion of the rail or the secondary conductor of the linear induction motor will occur. Will also be resolved.

Embodiment 2 FIG. 8 to 10 show another embodiment of the present invention as a countermeasure against the problem at the seam. FIG.
In Nos. 10 to 10, laser heads 33 and 33A comprising a laser oscillation means and a light receiving patterning means are provided, so that a laser beam can be applied to a rail as a reflector or a secondary conductor of a linear motor. Of the laser beam, the light receiving heads 33 and 3 so that only one of the two heads penetrates the laser light.
3A, or a rail as a reflector, or a joint of a secondary conductor of a linear motor, and a speed detecting means 40 is provided by a CPU 43 in a control unit which calculates a speed and a moving amount from an image sensor output. By judging whether the reflected light has passed or the reflected light has been received, it is possible to calculate the elevator speed, the position, etc. of the elevator. In FIG. 8, the two head portions 33 and 33A are arranged in a horizontal line, and the joints X2, X3, X4 of the left rail 4C for the counterweight, which are reflectors, and the joints X5, X6, X7 of the right rail 4C are separated. And the penetration of the two laser beams is always one of the two heads.
They are arranged so that they become one.

FIG. 9 shows that the rail for the counterweight, which is a reflector, is used only on one side, and the two heads 33,
33A is arranged on a vertical straight line, and the distance L1 between the joints of the rails is different from the distance L2 between the two head portions 33 and 33A.

FIG. 10 shows two heads 33 and 33A for carrying out the present invention and a function for judging whether reflected light is passing or reflected light is received. FIG. 3 is a control block diagram showing a configuration of one speed detection unit 40A. When the output of one of the two heads 33, 33A is interrupted, the speed detecting means 40A continuously detects the speed based on the output of the other head.

As described above, the present invention irradiates a fixed member with laser light from a moving body, and obtains an image of the reflected wave.
Since the speed is detected by calculating the zipper pattern, the speed can be detected in a non-contact manner.Therefore, there is no wear part, so the detection system can be improved and the maintenance can be rationalized.The work of installing the scale on the hoistway can be rationalized. Becomes In the above embodiment,
Although the elevator using the linear motor has been described, the present invention can also be used for an elevator using a conventional hoist.

[0022]

According to the present invention, the speed control of the elevator can prevent the occurrence of errors due to the influence of the slip of the roller of the encoder and the wear of the roller, thereby enabling a stable system configuration. Becomes Also, the work of laying the scale on the entire hoistway becomes unnecessary, and the construction can be rationalized.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a relationship among a laser oscillation means, a fixing member, and a light receiving pattern forming means of an elevator speed control device according to one embodiment of the present invention.

FIG. 2 is an explanatory diagram showing reflection interference fringes of laser light received by an image sensor of the elevator speed control device according to one embodiment of the present invention.

FIG. 3 is a control block diagram for detecting an elevator speed from interference fringes reflected by a laser beam in the elevator speed control device according to one embodiment of the present invention.

FIG. 4 is a control block diagram of an elevator speed control device according to one embodiment of the present invention.

FIG. 5 is a diagram showing the relationship between the processing time of the speed loop and the processing time of the position loop of the elevator speed control device according to one embodiment of the present invention.

FIG. 6 is an explanatory diagram showing that the laser light emitted by the laser oscillation means of the elevator speed control device according to one embodiment of the present invention penetrates the reflected light without changing from the joint of the fixed member.

FIG. 7 is an explanatory view showing that a viscous material is filled in a joint so that a laser beam does not penetrate a fixing member of the elevator speed control device according to one embodiment of the present invention.

FIG. 8 is an explanatory diagram of a case where two head portions of the elevator speed control device according to one embodiment of the present invention are arranged in a horizontal line and the joint positions of the left and right fixing members are shifted.

FIG. 9 is an explanatory view of a case where two head portions of the elevator speed control device according to the embodiment of the present invention are arranged in a vertical line and the joint positions of the left and right fixing members are shifted.

FIG. 10 is a control block diagram of speed detecting means for detecting speed from outputs of two head units of the elevator speed control device according to one embodiment of the present invention.

FIG. 11 is an explanatory diagram of a conventional elevator device.

FIG. 12 is a configuration diagram of a linear motor elevator with a loop used in the description of this embodiment.

FIG. 13 is a configuration diagram of a speed detecting means of a conventional linear motor elevator with a loop.

FIG. 14 is a control block diagram of an inverter driving inverter of a conventional linear motor elevator with a loop.

[Explanation of symbols]

Reference Signs List 2 rope 33 head part 4 elevator cage 34 lens 5.5A cage rail 35 semiconductor laser 6, 6B, 6C balancing weight rail 36 semiconductor laser drive circuit 7 balancing Weight 50 Linear motor controller 9 Secondary conductor 29 Light receiving patterning means 30 Laser oscillation means 31 Reflecting surface 32 Laser light

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B66B 1/00-19/06

Claims (3)

(57) [Claims] A moving body that moves up and down an elevator hoistway;
A fixing member provided in an area facing the moving body in the hoistway along the moving direction of the moving body, and a laser provided on the moving body so as to irradiate the fixing member with laser light. Laser oscillating means, light receiving patterning means provided on the moving body for receiving the reflected light of the laser light from the fixed member, and detecting the reflected light, and movement of the moving body. A speed detecting means for calculating a change in an output signal output from the light receiving patterning means to detect a speed of the moving body, and controlling a speed of the moving body based on an output signal of the speed detecting means. Speed control means for performing the connection between the fixed members.
The gap is a change in the gap due to thermal expansion of the fixing member.
Filled with a replenishing member that absorbs and reflects laser light
Elevator speed controller, characterized in that those are. 2. A moving body that moves up and down an elevator hoistway,
A fixed member provided in an area facing the moving body in the hoistway along the moving direction of the moving body, and a first member provided on the moving body so as to irradiate the fixed member with laser light. A laser oscillating means and an area of the fixed member which is larger than a width of a joint gap formed between the fixed members from a position where the first laser oscillating means irradiates the laser light. Ray
A second laser provided on the movable body so as to irradiate the light.
Laser oscillating means, first light-receiving patterning means provided on the movable body to detect reflected light of the laser light oscillated from the first laser oscillating means, and Second light receiving patterning means for detecting the reflected light of the laser light oscillated from the laser oscillating means, and output from one of the first and second light receiving patterning means. A speed detecting means for calculating a change in an output signal accompanying the movement of the moving body to detect a speed of the moving body; and a speed controlling means for controlling a speed of the moving body in response to a signal from the speed detecting means. An elevator speed control device, comprising: 3. A moving body that moves up and down an elevator hoistway,
A fixing member installed in an area facing the moving body in the hoistway along the moving direction of the moving body, and alternately with a seam between the first fixing member and arranged in parallel with the first fixing member. A second fixing member provided to dispose a seam; a first laser oscillating means provided on the movable body so as to irradiate the first fixing member with laser light; and the second fixing member A second laser oscillating means provided on the moving body so as to irradiate the member with laser light; and a reflected light of the laser light oscillated from the first laser oscillating means. The first light receiving pattern forming means provided on the moving body, and the second ray
Second light receiving patterning means for detecting reflected light of the laser light oscillated from the laser oscillating means;
A speed detecting means for calculating a change in an output signal accompanying the movement of the moving body outputted from any of the second light receiving patterning means and detecting a speed of the moving body; An elevator speed control device, comprising: speed control means for receiving and controlling the speed of the moving body.